This repo contains the checkpoint code in the 2022 mobile-robots course. For the detail of each checkpoint please refer to its report.
Thanks to my teamate Yu-lin, Chen. He consturct most of the sensor and electronic circuit part perfectly. Therefore I can finish the program without worries.
Install the ROS platform on raspberry pi and set up the environment for robotics, including the connection with Arduino board.
Write project to publish an integer to Arduino from raspberry pi then receive the double of the number by the platform set up previously. As shown in the following figure.(The figure credits to TA’s slide.)
Assembly the mobile robot and control by ROS through raspberry pi and Arduino.
Control the DC motors by encoder signal to make the robot moving in different direction. In the moving forward task, it is required to make the robot walk as straight as possible.
-Result:
9 mm offset after moving 3 m forward.
Configure the touch sensor for mobile robot to react when hitting the obstacle or the wall.
Configure the light sensor for mobile to detect the LED light object.
The mobile robot should find the LED light object automatically while avoiding the object in the arena.
-Result:
The task was finished in 17.36 seconds.
Configure the IR sensor for mobile robot to find the door after catching the light ball.
The mobile robot should find the LED light object automatically and take the light ball to the door while avoiding the object in the arena.
-Result:
The task was finished in 18.36 seconds.
Final hockey competition of the class.
The robot should catch the light ball and bring the light ball to the goal.
Our team won the first place!!!!!!!!
Out robott is the right one in the video.
